Mining equipment loading and transporting self-adaptive control method based on hydraulic variable-frequency hybrid drive

Abstract

The invention belongs to the technical field of roadway tunneling. In order to solve the problem that an existing loading and transporting system cannot realize self-adaptive speed regulation by monitoring the coal quantity, the invention provides a hydraulic frequency conversion hybrid drive-based mining equipment loading and transporting self-adaptive control method, which comprises the following steps of: constructing a loading and transporting main control model by acquiring a detection signal related to the coal falling quantity on loading equipment; the loading and transporting main control model outputs given values of output signals of the loading equipment and the transporting equipment based on preset boundary conditions and the detection signals related to the coal drop amount, obtains actual values of the output signals of the loading equipment and the transporting equipment, constructs a loading control model and a transporting control model, and controls the loading equipment and the transporting equipment; the loading control model controls an actual value of an output signal of the loading equipment to approach a given value of the output signal of the loading equipment based on a PID algorithm, and the transportation control model controls an actual value of an output signal of the transportation equipment to approach a given value of the output signal of the transportation equipment based on the PID algorithm, so that self-adaptive speed regulation is realized, the equipment failure rate is reduced, and the production efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of tunnel excavation, and in particular relates to a self-adaptive control method for loading and unloading mining equipment based on hydraulic variable frequency hybrid drive. Background Art

[0002] The rapid excavation system based on the integrated excavator and anchor machine is the core equipment for the rapid mining and forming of coal mine tunnels. The current loading and transportation systems of the integrated excavator and anchor machine adopt constant speed drive, but for semi-coal rock, the speed is slow and the loading capacity is small when cutting rock, and the speed is fast and the loading capacity is large when cutting coal. When the loading and transportation are operated at a constant speed, it will inevitably cause unnecessary wear on the scraper and chain. Therefore, it is necessary to run at idle speed when there is little material, and run quickly when there is a lot of material. At the same time, there are severe working conditions such as spalling and fault crossing during the excavation process. At this time, the amount of coal falling will be too much or too little, which will cause the rake claws of the front loading mechanism to be suffocated or the scraper chain of the rear transportation mechanism to be stuck by rock cuttings, thereby delaying the excavation progress. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides an adaptive speed regulation method for mining equipment loading and transportation based on hydraulic variable frequency hybrid drive.

[0004] The present invention provides a method for self-adaptive control of loading and transporting mining equipment based on hydraulic variable frequency hybrid drive, comprising:

[0005] Obtain detection signals related to the amount of coal falling on the loading equipment;

[0006] Constructing a main control model for loading and transporting, which outputs given values ​​of output signals of loading equipment and transport equipment based on preset boundary conditions and detection signals related to the amount of coal falling;

[0007] Obtain the actual values ​​of the output signals of the loading equipment and the transport equipment;

[0008] A loading control model and a transportation control model are constructed. The loading control model controls the actual value of the loading equipment output signal to approach the given value of the loading equipment output signal based on the PID algorithm; at the same time, the transportation control model controls the actual value of the transportation equipment output signal to approach the given value of the transportation equipment output signal based on the PID algorithm.

[0009] Optionally, when the loading device is a loading motor and the transporting device is a transporting motor, the detection signal related to the amount of coal falling is the loading pressure, the main transporting control model outputs a given value of the loading flow rate to the loading control model, and the main transporting control model outputs a given value of the transporting speed to the transporting control model;

[0010] The loading control model simultaneously obtains the actual value of the loading flow of the loading motor. The loading control model controls the output of the loading solenoid valve controller based on the PID algorithm so that the actual value of the loading flow of the loading motor approaches the given value of the loading flow.

[0011] The transport control model simultaneously obtains the actual value of the transport speed of the transport motor. The transport control model controls the output of the transport frequency conversion controller based on the PID algorithm, so that the actual value of the transport speed of the transport motor approaches the given value of the transport speed.

[0012] Optionally, when the loading device is a loading motor and the transport device is a transport motor, the detection signal related to the coal falling amount is the loading active current, the shipping main control model outputs a given value of the loading speed to the loading control model, and the shipping main control model outputs a given value of the transport flow rate to the transport control model;

[0013] The loading control model simultaneously obtains the actual value of the loading speed of the loading motor. The loading control model controls the output of the loading frequency conversion controller based on the PID algorithm, so that the actual value of the loading speed of the loading motor approaches the given value of the loading speed.

[0014] The transport control model simultaneously obtains the actual value of the transport flow of the transport motor. The transport control model controls the output of the transport solenoid valve controller based on the PID algorithm to make the actual value of the transport flow of the transport motor approach the given value of the transport flow.

[0015] Optionally, it also includes obtaining coal-rock cutting information and building a coal-rock identification model, wherein the coal-rock identification model obtains the coal-rock state of the current roadway based on the coal-rock cutting information and outputs a preset boundary condition, and the preset boundary condition can also be manually input based on the observation of the current roadway;

[0016] Coal and rock cutting information includes cutting vibration signal, cutting current signal, cutting traction speed and cutting head posture.

[0017] Optionally, when the loading equipment is a loading motor and the transporting equipment is a transporting motor, the coal-rock identification model obtains the current roadway type, which includes coal roadways, rock roadways and semi-coal-rock roadways. The preset boundary conditions are the boundary values ​​of the loading flow rate and the boundary values ​​of the transport speed. The loading control model and the transport control model adjust the boundary values ​​of the loading flow rate and the boundary values ​​of the transport speed in proportion to the proportion of coal and rock.

[0018] Optionally, when the loading equipment is a loading motor and the transporting equipment is a transporting motor, the coal-rock identification model obtains the current roadway type, which includes coal roadways, rock roadways and semi-coal-rock roadways. The preset boundary conditions are the boundary values ​​of the loading speed and the boundary values ​​of the transport flow. The loading control model and the transport control model adjust the boundary values ​​of the loading speed and the boundary values ​​of the transport flow in proportion to the proportion of coal and rock.

[0019] Optionally, when the loading device is a loading motor and the transporting device is a transporting motor, the main control model for shipping includes a staged controller and a continuous controller;

[0020] The staged controller detects the actual value of the loading pressure in stages and outputs a given value of the loading flow corresponding to the actual value of each stage of the loading pressure. The maximum value of the given value of the loading flow is 50-180L / min.

[0021] The continuous controller outputs a set value for the loading flow based on the actual value of the loading pressure.

[0022] Continuous controller:

[0023] Q = 7 × P

[0024] Among them, Q is the given value of the loading flow rate, and P is the loading pressure.

[0025] Optionally, when the loading device is a loading motor and the transporting device is a transporting motor, the main control model for shipping includes a staged controller and a continuous controller;

[0026] The staged controller detects the actual value of the loading active current in sections, and outputs a given value of the loading speed corresponding to the actual value of each section of the loading active current. The maximum value of the given value of the loading speed is 500-3000r / min.

[0027] The continuous controller outputs a set value for the load speed based on the actual value of the load active current.

[0028] Continuous controller:

[0029] N=27.8I+400

[0030] Wherein, N is the given value of the loading speed, and I is the loading active current.

[0031] Optionally, the loading control model further obtains an actual value of the loading pressure. When the actual value of the loading pressure obtained by the loading control model is greater than 25 MPa and the actual value of the loading flow rate is less than 5 L / min, it is determined that the first loading rake claw is stuck with coal and rock, a warning prompt is issued, and the output of the loading solenoid valve controller is stopped, thereby stopping the loading work;

[0032] The transport control model also obtains the actual value of the transport current. When the actual value of the transport current obtained by the transport control model is greater than 50A and the actual value of the transport speed is less than 100r / min, it is judged that the scraper chain is stuck in coal and rock, and a warning is issued. At the same time, the output of the transport frequency conversion controller and the loading solenoid valve controller is stopped, and the transportation and loading work are stopped.

[0033] Optionally, the loading control model also obtains the actual value of the loading active current. When the actual value of the loading active current obtained by the loading control model is greater than 50A and the actual value of the loading speed is less than 100r / min, it is determined that the second loading rake claw is stuck with coal and rock, a warning prompt is issued, and the output of the loading frequency conversion controller is stopped, and the loading work is stopped;

[0034] The transportation control model also obtains the actual value of the transportation pressure. When the actual value of the transportation pressure obtained by the transportation control model is greater than 25Mpa and the actual value of the transportation flow is less than 5L / min, it is judged that the scraper chain is stuck in coal and rock, and a warning is issued. At the same time, the output of the transportation solenoid valve controller and the loading frequency conversion controller is stopped, and the transportation and loading work are stopped.

[0035] Compared with the prior art, the technical solution provided by the embodiment of the present invention has the following beneficial effects:

[0036] An embodiment of the present invention provides an adaptive control method for loading and transporting of mining equipment based on hydraulic variable frequency hybrid drive. The loading system or the transport system is driven by a hydraulic motor or a variable frequency motor. The main loading control model can output given values ​​of the output signals of the loading equipment and the transport equipment by acquiring detection signals and preset boundary conditions related to the amount of coal falling, thereby judging the stacking situation of the current mining equipment, that is, judging the amount of coal falling. By constructing a loading control model and a transport control model, the loading control model and the transport control model respectively obtain the actual values ​​of the output signals of the loading equipment and the transport equipment. The loading control model controls the actual value of the output signal of the loading equipment to approach the given value of the output signal of the loading equipment based on the PID algorithm. The transport control model controls the actual value of the output signal of the transport equipment to approach the given value of the output signal of the transport equipment based on the PID algorithm. The transport control model controls the actual value of the output signal of the transport equipment to approach the given value of the output signal of the transport equipment based on the PID algorithm, thereby being able to adjust the hydraulic motor flow or the motor speed to achieve adaptive speed regulation, reduce equipment failure rate, and improve production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0038] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0039] Figure 1 It is a flow chart of the adaptive control method of the hydraulic driven loading system and the variable frequency driven transportation system according to the embodiment of the present invention;

[0040] Figure 2 It is a schematic diagram of a segmented control model of a hydraulically driven loading system according to an embodiment of the present invention;

[0041] Figure 3 It is a schematic diagram of a continuous control model of a hydraulically driven loading system according to an embodiment of the present invention;

[0042] Figure 4 It is a schematic diagram of a time-segment control model of a variable frequency drive transportation system according to an embodiment of the present invention;

[0043] Figure 5 It is a schematic diagram of a continuous control model of a variable frequency drive transportation system according to an embodiment of the present invention;

[0044] Figure 6 It is a structural schematic diagram of a transport system when a hydraulically driven loading system and a variable frequency driven transport system are used as described in an embodiment of the present invention;

[0045] Figure 7 It is a structural schematic diagram of a transport system from another perspective when the hydraulically driven loading system and the variable frequency driven transport system are described in an embodiment of the present invention;

[0046] Figure 8 It is a flow chart of the adaptive control method of the variable frequency drive loading system and the hydraulic drive transportation system according to the embodiment of the present invention;

[0047] Fig. 9 It is a schematic diagram of a segmented control model of a variable frequency drive loading system according to an embodiment of the present invention;

[0048] Fig.10 It is a schematic diagram of a continuous control model of a variable frequency drive loading system according to an embodiment of the present invention;

[0049] Fig.11 It is a schematic diagram of a time-segmented control model of a hydraulically driven transportation system according to an embodiment of the present invention;

[0050] Fig.12 It is a schematic diagram of a continuous control model of a hydraulically driven transportation system according to an embodiment of the present invention;

[0051] Fig.13 It is a structural schematic diagram of a loading system when a variable frequency driven loading system and a hydraulic driven transportation system are used as described in an embodiment of the present invention;

[0052] Fig.14 This is a structural schematic diagram from another perspective of the loading system with a variable frequency driven loading system and a hydraulic driven transportation system according to an embodiment of the present invention.

[0053] Among them, 1. loading motor; 2. first loading reducer; 3. first middle transport trough; 4. transport motor; 5. first transport reducer; 6. first loading rake claw; 7. loading motor; 8. second loading reducer; 9. second middle transport trough; 10. transport motor; 11. second transport reducer; 12. second loading rake claw. DETAILED DESCRIPTION

[0054] In order to more clearly understand the above-mentioned objectives, features and advantages of the present invention, the scheme of the present invention will be further described below. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0055] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present invention, rather than all of the embodiments.

[0056] Reference Figure 1 and Figure 8 As shown, this embodiment provides a method for self-adaptive control of mining equipment loading and transportation based on hydraulic variable frequency hybrid drive, which specifically includes:

[0057] Obtain detection signals related to the amount of coal falling on the loading equipment;

[0058] Constructing a main control model for loading and transporting, which outputs given values ​​of output signals of loading equipment and transport equipment based on preset boundary conditions and detection signals related to the amount of coal falling;

[0059] Obtain the actual values ​​of the output signals of the loading equipment and the transport equipment;

[0060] A loading control model and a transportation control model are constructed. The loading control model controls the actual value of the loading equipment output signal to approach the given value of the loading equipment output signal based on the PID model; at the same time, the transportation control model controls the actual value of the transportation equipment output signal to approach the given value of the transportation equipment output signal based on the PID model.

[0061] Specifically, this embodiment takes the integrated digging and anchoring machine as an example. When the loading equipment is the loading motor 1 and the transportation equipment is the transportation motor 4, that is, when a hydraulically driven loading system and a variable frequency driven transportation system are adopted, the detection signal related to the amount of coal falling is the loading pressure, and the loading main control model outputs a given value of the loading flow rate to the loading control model, and the loading main control model outputs a given value of the transportation speed to the transportation control model. That is to say, by obtaining the loading pressure, the current material stacking situation on the shovel of the integrated digging and anchoring machine can be judged, thereby determining the given value of the loading flow rate and the given value of the transportation speed output by the loading main control model.

[0062] Among them, when the loading pressure increases, it indicates that the material piled on the shovel plate increases. At this time, the loading flow of the loading motor 1 and the transport speed of the transport motor 4 are increased to transport the piled materials out in time. When the loading pressure decreases, it indicates that the material piled on the shovel plate decreases. At this time, the loading flow of the loading motor 1 and the transport speed of the transport motor 4 are reduced, thereby reducing the energy consumption of the system and the wear of the scraper conveyor and the first loading rake claw 6. Among them, the given value of the loading flow output by the shipping main control model is sent to the loading control model in time. When the given value of the transport speed output by the shipping main control model becomes larger, it is sent to the transport control model in time. When the given value of the output transport speed becomes smaller, it is necessary to delay the corresponding time and send it to the transport control model according to the actual value of the current transport speed and the length of the scraper chain.

[0063] Among them, the loading control model simultaneously obtains the actual value of the loading flow of the loading motor 1, and controls the output of the loading solenoid valve controller based on the PID algorithm, so that the actual value of the loading flow of the loading motor 1 is close to the given value of the loading flow; the transportation control model simultaneously obtains the actual value of the transportation speed of the transportation motor 4, and controls the output of the transportation frequency conversion controller based on the PID algorithm, so that the actual value of the transportation speed of the transportation motor 4 is close to the given value of the transportation speed.

[0064] Furthermore, the main control model for shipment includes a phased controller and a continuous controller, referring to Figure 2 As shown, the staged controller detects the actual value of the loading pressure in sections, and outputs a given value of the loading flow corresponding to the actual value of each section of the loading pressure. The maximum value of the given value of the loading flow is 50-180L / min. The staged controller divides the loading pressure into two or more sections for detection, usually 3-7 sections for detection. The maximum value of the given value of the loading flow is 50-180L / min. When the model changes and the maximum value of the given value of the loading flow is reduced from 180L / min to 50L / min, the given value of the loading flow output by each section in the staged controller is reduced in proportion, and the continuous controller is also reduced in proportion. Among them, a certain value of the staged controller The given value of the loading flow output of a segment is generally the average value of the given value of the loading flow output of the next segment and the given value of the loading flow output of the previous segment. Specifically, when the loading pressure is 0-5Mpa, the given value of the loading flow is 20L / min; when the loading pressure is 5-10Mpa, the given value of the loading flow is 60L / min; when the loading pressure is 10-15Mpa, the given value of the loading flow is 100L / min; when the loading pressure is 15-20Mpa, the given value of the loading flow is 140L / min; when the loading pressure is 20-25Mpa, the given value of the loading flow is 180L / min. Figure 3As shown, the continuous controller outputs a given value of the loading flow rate based on the actual value of the loading pressure. Specifically, the given value of the loading flow rate increases linearly with the loading pressure obtained by the shipping main control model, such as Q=7×P, where Q is the given value of the loading flow rate and P is the loading pressure.

[0065] The models for the given value of the transport speed output by the main shipping control model include two types: a staged controller and a continuous controller. Figure 4 As shown, the staged controller performs segmented detection based on the actual value of the loading pressure, and outputs a given value of the transport speed corresponding to the actual value of each loading pressure segment. The maximum value of the given value of the transport speed is 500-3000r / min. The staged controller divides the loading pressure into two or more segments for detection, usually 3-7 segments for detection. The maximum value of the given value of the transport speed is 500-3000r / min. When the machine model changes and the maximum value of the given value of the transport speed drops from 3000r / min to 500r / min, the given value of the transport speed output by each segment in the staged controller is reduced proportionally, and the continuous controller is also reduced proportionally. Among them, the given value of the transport speed output by a certain segment of the staged controller is generally the given value of the transport speed output by the next segment and the given value of the transport speed output by the previous segment. The average value of the given value of the transport speed. Specifically, when the loading pressure is 0-5Mpa, the given value of the transport speed is 400r / min; when the loading pressure is 5-10Mpa, the given value of the transport speed is 650r / min; when the loading pressure is 10-15Mpa, the given value of the transport speed is 900r / min; when the loading pressure is 15-20Mpa, the given value of the transport speed is 1150r / min; when the loading pressure is 20-25Mpa, the given value of the transport speed is 1400r / min; refer to Figure 5 As shown, in the continuous controller, the given value of the transport speed increases linearly with the loading pressure obtained by the main shipping control model, such as N=56×P, where N is the given value of the transport speed and P is the loading pressure, MPa.

[0066] When the loading device is the loading motor 1 and the transporting device is the transporting motor 4, the loading control model also obtains the actual value of the loading pressure. When the actual value of the loading pressure obtained by the loading control model is greater than 25Mpa and the actual value of the loading flow is less than 5L / min, it is judged that the first loading rake claw 6 is stuck with coal and rock, a warning is issued, and the output of the loading solenoid valve controller is stopped, and the loading work is stopped; the transport control model also obtains the actual value of the transport current. When the actual value of the transport current obtained by the transport control model is greater than 50A and the actual value of the transport speed is less than 100r / min, it is judged that the scraper chain is stuck with coal and rock, a warning is issued, and the output of the transport frequency conversion controller and the loading solenoid valve controller are stopped at the same time, and the transportation and loading work are stopped.

[0067] When the loading equipment is the loading motor 7 and the transporting equipment is the transporting motor 10, that is, when a variable frequency drive loading system and a hydraulic drive transporting system are adopted, the detection signal related to the coal falling amount is the loading active current, and the loading active current is calculated by the loading apparent current and the power factor. The loading main control model outputs the given value of the loading speed to the loading control model, and the loading main control model outputs the given value of the transport flow rate to the transport control model. That is to say, by obtaining the loading active current, the current material stacking situation on the shovel plate of the mining and anchoring machine can be judged, thereby determining the given value of the loading speed and the given value of the transport flow rate.

[0068] Among them, the main loading control model obtains the loading apparent current and power factor at the same time. If the power factor is less than 0.8, the loading speed is adjusted based on the power factor. When the power factor is greater than 0.8, the loading speed is adjusted based on the loading apparent current, so that the loading motor 7 and the transport motor 10 are used in the constant torque range to prevent them from entering the constant power range. Specifically, when the loading active current increases, it indicates that the material accumulated on the shovel plate increases. At this time, the loading speed of the loading motor 7 and the transport flow of the transport motor 10 are increased to transport the piled materials in time. When the loading active current decreases , indicating that the pile of materials on the shovel board is reduced. At this time, the loading speed of the loading motor 7 and the transport flow of the transport motor 10 are reduced, thereby reducing the energy consumption of the system and the wear of the scraper conveyor and the second loading rake claw 12. Among them, the given value of the loading speed output by the shipping main control model is sent to the loading control model in time. When the given value of the transport flow output by the shipping main control model becomes larger, it is sent to the transport control model in time. When the given value of the output transport flow becomes smaller, it needs to be delayed according to the current transport speed and scraper chain length. Send to the transport control model.

[0069] Among them, the loading control model simultaneously obtains the actual value of the loading speed of the loading motor 7, and the loading control model controls the output of the loading frequency conversion controller based on the PID algorithm, so that the actual value of the loading speed of the loading motor 7 is close to the given value of the loading speed; the transportation control model simultaneously obtains the actual value of the transportation flow of the transportation motor 10, and the transportation control model controls the output of the transportation solenoid valve controller based on the PID algorithm, so that the actual value of the transportation flow of the transportation motor 10 is close to the given value of the transportation flow.

[0070] Further, when the loading device is a loading motor 7 and the transport device is a transport motor 10, the main control model for shipping includes a phased controller and a continuous controller, referring to Fig. 9As shown, the staged controller detects the actual value of the loaded active current in sections, and outputs a given value of the loading speed corresponding to the actual value of each section of the loaded active current. The maximum value of the given value of the loading speed is 500-3000r / min. The staged controller divides the actual value of the loaded active current into two or more sections for detection, usually divided into 3-7 sections for detection. The maximum value of the given value of the loading speed is 500-3000r / min. When the machine model changes, the maximum value of the given value of the loading speed is reduced from 3000r / min to 500r / min, the given value of the loading speed output by each section in the staged controller is reduced in proportion, and the continuous controller is also reduced in proportion. Among them, the given value of the loading speed output by a certain section of the staged controller is generally The given value of the loading speed output in the next section and the average value of the loading speed output in the previous section, specifically, when the loading active current is 5-10A, the given value of the loading speed is 400r / min; when the loading active current is 10-15A, the given value of the loading speed is 600r / min; when the loading active current is 15-20A, the given value of the loading speed is 800r / min, when the loading active current is 20-25A, the given value of the loading speed is 1000r / min, when the loading active current is 25-30A, the given value of the loading speed is 1200r / min, when the loading active current is 30-35A, the given value of the loading speed is 1400r / min; refer to Fig.10 As shown, the continuous controller outputs a given value of the loading speed based on the actual value of the loading active current. The given value of the loading speed increases linearly with the loading active current obtained by the shipping main control model, such as N=27.8I+400, where N is the given value of the loading speed and I is the loading active current.

[0071] The models for the given value of the transport flow output by the main shipping control model include two types: a staged controller and a continuous controller. Fig.11As shown, the staged controller detects the actual value of the loaded active current in sections, and outputs a given value of the transport flow corresponding to each section of the loaded active current. The maximum value of the given value of the transport flow is 50-180L / min. The staged controller divides the actual value of the loaded active current into two or more sections for detection, usually divided into 3-7 sections for detection. The maximum value of the given value of the transport flow is 50-180L / min. When the machine model changes and the maximum value of the given value of the transport flow is reduced from 180L / min to 50L / min, the given value of the transport flow output by each section in the staged controller is reduced proportionally, and the continuous controller is also reduced proportionally. Among them, the given value of the transport flow output by a certain section of the staged controller is generally the average value of the given value of the transport flow output by the next section and the given value of the transport flow output by the previous section. Specifically, When the loading active current is 5-10A, the given value of the transport flow is 20L / min; when the loading active current is 10-15A, the given value of the transport flow is 50L / min; when the loading active current is 15-20A, the given value of the transport flow is 80L / min; when the loading active current is 20-25A, the given value of the transport flow is 110L / min; when the loading active current is 25-30A, the given value of the transport flow is 140L / min; when the loading active current is 30-35A, the given value of the transport flow is 170L / min. Fig.12 As shown, the given value of the transport flow in the continuous controller increases linearly with the loading active current obtained by the shipping main control model, such as Q=4×I, where Q is the given value of the transport flow and I is the loading active current.

[0072] When the loading device is the loading motor 7 and the transporting device is the transporting motor 10, the loading control model also obtains the actual value of the loading active current. When the actual value of the loading active current obtained by the loading control model is greater than 50A and the actual value of the loading speed is less than 100r / min, it is judged that the second loading rake claw 12 is stuck with coal and rock, a warning is issued, and the output of the loading frequency converter controller is stopped, and the loading work is stopped; the transport control model also obtains the actual value of the transport pressure. When the actual value of the transport pressure obtained by the transport control model is greater than 25Mpa and the actual value of the transport flow is less than 5L / min, it is judged that the scraper chain is stuck with coal and rock, a warning is issued, and the output of the transport solenoid valve controller and the loading frequency converter controller is stopped, and the transportation and loading work are stopped.

[0073] The adaptive control method provided in this embodiment also includes obtaining coal-rock cutting information and constructing a coal-rock identification model. The coal-rock identification model obtains the coal-rock status of the current tunnel based on the coal-rock cutting information and outputs preset boundary conditions. The preset boundary conditions can also be manually input based on the observation conditions of the current tunnel. The coal-rock cutting information includes cutting vibration signals, cutting current signals, cutting traction speeds and cutting head postures.

[0074] Furthermore, when the loading device is a loading motor 1 and the transport device is a transport motor 4, that is, a hydraulically driven loading system and a variable frequency driven transport system are used, the coal-rock identification model obtains the current roadway type, and the current roadway types include coal roadways, rock roadways and semi-coal-rock roadways. The preset boundary conditions are the boundary values ​​of the loading flow rate and the boundary values ​​of the transport speed, that is, the maximum and minimum values ​​of the loading flow rate and the maximum and minimum values ​​of the transport speed. The loading control model and the transport control model respectively adjust the boundary values ​​of the loading flow rate and the transport speed in proportion according to the proportion of coal and rock. Specifically, when the coal-rock identification model obtains that the current roadway is a coal roadway, the loading control model and the transport control model are used to adjust the boundary values ​​of the loading flow rate and the transport speed in proportion. The maximum and minimum values ​​of the current carrying capacity and the maximum and minimum values ​​of the transport speed; when the coal-rock identification model obtains that the current tunnel is a rock tunnel, the maximum and minimum values ​​of the loading flow rate and the maximum and minimum values ​​of the transport speed are reduced; when the coal-rock identification model obtains that the current tunnel is half coal and rock, the maximum and minimum values ​​of the loading flow rate and the maximum and minimum values ​​of the transport speed are proportionally adjusted according to the proportion of coal and rock. That is to say, when the cut rock is obtained, the amount of coal falling at this time is reduced, and the speed reduction is achieved by reducing the loading flow rate and the transport speed. When the cut coal is obtained, the amount of coal falling at this time is increased, and the speed increase is achieved by increasing the loading flow rate and the transport speed.

[0075] When the loading device is a loading motor 7 and the transport device is a transport motor 10, that is, a variable frequency drive loading system and a hydraulic drive transport system are used, the coal-rock identification model obtains the current roadway type, and the current roadway types include coal roadways, rock roadways and semi-coal-rock roadways. The preset boundary conditions are the boundary values ​​of the loading speed and the boundary values ​​of the transport flow, that is, the maximum and minimum values ​​of the loading speed, and the maximum and minimum values ​​of the transport flow. The loading control model and the transport control model respectively adjust the boundary values ​​of the loading speed and the transport flow in proportion according to the proportion of coal and rock. Specifically, when the coal-rock identification model obtains that the current roadway is a coal roadway, the loading speed is increased. The maximum and minimum values ​​of the speed and the maximum and minimum values ​​of the transport flow rate are calculated by the coal-rock identification model; when the coal-rock identification model obtains that the current tunnel is a rock tunnel, the maximum and minimum values ​​of the loading speed and the maximum and minimum values ​​of the transport flow rate are reduced; when the coal-rock identification model obtains that the current tunnel is half coal and rock, the maximum and minimum values ​​of the loading speed and the maximum and minimum values ​​of the transport flow rate are proportionally adjusted according to the proportion of coal and rock. That is to say, when the cut rock is obtained, the amount of coal falling at this time is reduced, and the speed reduction is achieved by reducing the loading speed and the transport flow rate. When the cut coal is obtained, the amount of coal falling at this time is increased, and the speed increase is achieved by increasing the loading speed and the transport flow rate.

[0076] This embodiment takes the anchoring machine as an example. When the loading device is the loading motor 1 and the transporting device is the transporting motor 4, that is, when a hydraulically driven loading system and a variable frequency driven transporting system are used, refer to Figure 6 and Figure 7 As shown, the loading part of this integrated mining and anchoring machine is composed of a first main shovel plate, left and right first telescopic shovel plates, left and right first loading rake claws 6, a loading motor 1, a first loading reducer 2, a loading pressure sensor and a loading flow sensor. The star wheel is directly driven by the loading motor 1 and the first loading reducer 2. The transportation part includes three parts: a first front transportation trough, a first middle transportation trough 3 and a first conveyor tail. The conveying chain adopts a single-chain swinging scraper conveying chain. The conveying chain is driven by two groups of conveying motors 4 and a first conveying reducer 5 to jointly drive the sprocket. The loading pressure sensor and the loading flow sensor are both arranged between the loading electro-hydraulic proportional valve and the loading motor 1. The transport current sensor and the transport power sensor are installed inside the transport motor 4 and are integrated with explosion-proof treatment. The transport motor 4 is an explosion-proof motor. The transport current sensor and the transport power sensor can directly measure and record the real-time current and power of the transport motor 4.

[0077] This embodiment takes the anchoring machine as an example. When the loading device is the loading motor 7 and the transporting device is the transporting motor 10, that is, when the variable frequency drive loading system and the hydraulic drive transporting system are adopted, refer to Fig.13 and Fig.14As shown, the loading part of this integrated miner and anchor machine is composed of a second main shovel plate, left and right second telescopic shovel plates, left and right second loading rake claws 12, a loading motor 7, a second loading reducer 8, a loading current sensor and a loading power sensor. The loading current sensor and the loading power sensor are installed inside the loading motor 7 and are subjected to integrated explosion-proof treatment. The loading motor 7 is an explosion-proof motor. The loading current sensor and the loading power sensor can directly measure and record the real-time current and power of the loading motor 7. The star wheel is directly driven by the loading motor 7 and the second loading reducer 8. The transportation part includes three parts: a second front transportation trough, a second middle transportation trough 9 and a second conveyor tail. The conveying chain adopts a single-chain swing scraper conveying chain. The drive of the conveying chain is achieved by two sets of transport motors 10 and the second transport reducer 11 jointly driving the sprocket. The transport pressure sensor and the transport flow sensor are both arranged between the transport electro-hydraulic proportional valve and the transport motor 10.

[0078] An embodiment of the present invention provides an adaptive control method for the loading and transportation of mining equipment based on hydraulic variable frequency hybrid drive. The method drives the loading system or transportation system to operate through a hydraulic motor or a variable frequency motor. The coal and rock status of the current tunnel is identified according to a coal and rock identification model and boundary conditions are set according to the driving mode, or the boundary conditions are manually set by observing the current tunnel conditions and the driving mode. The loading pressure or loading active current is obtained and input into the main loading control model. The main loading control model determines the current stacking situation of the mining equipment according to the loading pressure or the loading active current, that is, the amount of coal falling, and then adjusts the hydraulic motor flow or the motor speed to achieve adaptive speed regulation, thereby reducing equipment failure rate and improving production efficiency.

[0079] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0080] The above description is only a specific embodiment of the present invention, so that those skilled in the art can understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments described herein, but should conform to the widest scope consistent with the principles and novel features invented herein.

Claims

1. A method for adaptive control of mining equipment loading and transportation based on hydraulic variable frequency hybrid drive, characterized in that: include: Obtain detection signals related to the amount of coal falling on the loading equipment; Constructing a main control model for loading and transporting, which outputs given values ​​of output signals of loading equipment and transport equipment based on preset boundary conditions and detection signals related to the amount of coal falling; Obtain the actual values ​​of the output signals of the loading equipment and the transport equipment; A loading control model and a transportation control model are constructed. The loading control model controls the actual value of the loading equipment output signal to approach the given value of the loading equipment output signal based on the PID algorithm; at the same time, the transportation control model controls the actual value of the transportation equipment output signal to approach the given value of the transportation equipment output signal based on the PID algorithm.

2. The method for self-adaptive control of mining equipment loading and transportation based on hydraulic variable frequency hybrid drive according to claim 1 is characterized in that: When the loading device is a loading motor (1) and the transporting device is a transporting motor (4), the detection signal related to the amount of coal falling is the loading pressure, the main transporting control model outputs a given value of the loading flow rate to the loading control model, and the main transporting control model outputs a given value of the transporting speed to the transporting control model; The loading control model simultaneously obtains the actual value of the loading flow of the loading motor (1), and controls the output of the loading solenoid valve controller based on the PID algorithm so that the actual value of the loading flow of the loading motor (1) approaches the given value of the loading flow; The transport control model simultaneously obtains the actual value of the transport speed of the transport motor (4). The transport control model controls the output of the transport frequency conversion controller based on the PID algorithm so that the actual value of the transport speed of the transport motor (4) approaches the given value of the transport speed.

3. The method for self-adaptive control of mining equipment loading and transportation based on hydraulic variable frequency hybrid drive according to claim 1 is characterized in that: When the loading device is a loading motor (7) and the transporting device is a transporting motor (10), the detection signal related to the amount of coal dropped is the loading active current, the main transporting control model outputs a given value of the loading speed to the loading control model, and the main transporting control model outputs a given value of the transport flow rate to the transporting control model; The loading control model simultaneously obtains the actual value of the loading speed of the loading motor (7), and controls the output of the loading frequency conversion controller based on the PID algorithm, so that the actual value of the loading speed of the loading motor (7) approaches the given value of the loading speed; The transport control model simultaneously obtains the actual value of the transport flow of the transport motor (10). The transport control model controls the output of the transport solenoid valve controller based on the PID algorithm so that the actual value of the transport flow of the transport motor (10) approaches the given value of the transport flow.

4. The method for self-adaptive control of mining equipment loading and transportation based on hydraulic variable frequency hybrid drive according to claim 2 or 3, characterized in that: It also includes obtaining coal-rock cutting information and building a coal-rock identification model. The coal-rock identification model obtains the coal-rock state of the current roadway based on the coal-rock cutting information and outputs preset boundary conditions. The preset boundary conditions can also be manually input based on the observation of the current roadway; Coal and rock cutting information includes cutting vibration signal, cutting current signal, cutting traction speed and cutting head posture.

5. The method for self-adaptive control of mining equipment loading and transportation based on hydraulic variable frequency hybrid drive according to claim 4 is characterized in that: When the loading device is a loading motor (1) and the transporting device is a transporting motor (4), the coal-rock identification model obtains the current roadway type, which includes coal roadways, rock roadways and semi-coal-rock roadways. The preset boundary conditions are the boundary value of the loading flow rate and the boundary value of the transport speed. The loading control model and the transport control model respectively adjust the boundary value of the loading flow rate and the boundary value of the transport speed in proportion according to the proportion of coal and rock.

6. The method for self-adaptive control of mining equipment loading and transportation based on hydraulic variable frequency hybrid drive according to claim 4 is characterized in that: When the loading device is a loading motor (7) and the transporting device is a transporting motor (10), the coal-rock identification model obtains the current tunnel type, which includes coal tunnels, rock tunnels and semi-coal-rock tunnels. The preset boundary conditions are the boundary value of the loading speed and the boundary value of the transport flow rate. The loading control model and the transport control model respectively adjust the boundary value of the loading speed and the boundary value of the transport flow rate in proportion according to the proportion of coal and rock.

7. The method for self-adaptive control of mining equipment loading and transportation based on hydraulic variable frequency hybrid drive according to claim 2 is characterized in that: When the loading device is a loading motor (1) and the transporting device is a transporting motor (4), the main control model for shipping includes a staged controller and a continuous controller; The staged controller detects the actual value of the loading pressure in stages and outputs a given value of the loading flow corresponding to the actual value of each stage of the loading pressure. The maximum value of the given value of the loading flow is 50-180L / min. The continuous controller outputs a set value for the loading flow based on the actual value of the loading pressure. Continuous controller: Q = 7 × P Among them, Q is the given value of the loading flow rate, and P is the loading pressure.

8. The method for self-adaptive control of mining equipment loading and transportation based on hydraulic variable frequency hybrid drive according to claim 3 is characterized in that: When the loading device is a loading motor (7) and the transporting device is a transporting motor (10), the main control model for shipping includes a staged controller and a continuous controller; The staged controller detects the actual value of the loading active current in sections, and outputs a given value of the loading speed corresponding to the actual value of each section of the loading active current. The maximum value of the given value of the loading speed is 500-3000r / min. The continuous controller outputs a set value for the load speed based on the actual value of the load active current. Continuous controller: N=27.8I+400 Wherein, N is the given value of the loading speed, and I is the loading active current.

9. The method for self-adaptive control of mining equipment loading and transportation based on hydraulic variable frequency hybrid drive according to claim 7 is characterized in that: The loading control model also obtains the actual value of the loading pressure. When the actual value of the loading pressure obtained by the loading control model is greater than 25 MPa and the actual value of the loading flow rate is less than 5 L / min, it is determined that the first loading rake claw (6) is stuck with coal and rock, a warning prompt is issued, and the output of the loading solenoid valve controller is stopped, thereby stopping the loading operation. The transport control model also obtains the actual value of the transport current. When the actual value of the transport current obtained by the transport control model is greater than 50A and the actual value of the transport speed is less than 100r / min, it is judged that the scraper chain is stuck in coal and rock, and a warning is issued. At the same time, the output of the transport frequency conversion controller and the loading solenoid valve controller is stopped, and the transportation and loading work are stopped.

10. The method for self-adaptive control of mining equipment loading and transportation based on hydraulic variable frequency hybrid drive according to claim 8, characterized in that: The loading control model also obtains the actual value of the loading active current. When the actual value of the loading active current obtained by the loading control model is greater than 50A and the actual value of the loading speed is less than 100r / min, it is determined that the second loading rake claw (12) is stuck with coal and rock, a warning prompt is issued, and the output of the loading frequency conversion controller is stopped, thereby stopping the loading operation; The transportation control model also obtains the actual value of the transportation pressure. When the actual value of the transportation pressure obtained by the transportation control model is greater than 25Mpa and the actual value of the transportation flow is less than 5L / min, it is judged that the scraper chain is stuck in coal and rock, and a warning is issued. At the same time, the output of the transportation solenoid valve controller and the loading frequency conversion controller is stopped, and the transportation and loading work are stopped.

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